version: 66.11
glider: 129
mission: 4
dive: 141
start: 12 7 112 20 28 9
data:
$ID,129
$MISSION,4
$DIVE,141
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,380
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2824.9753
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,80
$PITCH_MAX,3800
$C_PITCH,2160
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125753
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,215
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,1925
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,87
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,210
$VBD_MAX,3600
$C_VBD,2409
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,149.5
$AH0_10V,98.599998
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,120.57124
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.692307
$PRESSURE_SLOPE,0.0001153375
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,400
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004337111
$SEABIRD_T_H,0.00062520173
$SEABIRD_T_I,2.3466939e-05
$SEABIRD_T_J,2.4866913e-06
$SEABIRD_C_G,-10.062903
$SEABIRD_C_H,1.1231569
$SEABIRD_C_I,-0.0017987719
$SEABIRD_C_J,0.0002252144
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,071212,201906,2003.431,12356.257,35,1.1,35,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-56.1
$GPS2,071212,202743,2003.422,12356.170,15,1.3,15,-2.5
$SPEED_LIMITS,0.150,0.269
$TGT_NAME,S2
$TGT_LATLONG,2015.000,12420.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,33.7,46628,-14.6,-8.684,-17.90
$D_GRID,5375
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.56,-175.2,0.0,0.0,0,91,0.00,0.00,-70.95,0.000,2,0.000,0.000,56,1893,1965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.56,-175.2,3.3,-5.5,12,138,7.70,2.08,-28.58,0.000,4,0.242,0.046,1965,3297,3126,0,0,0,0,0,0,25.44,25.98,26.34
$GC,176,-0.52,-175.2,15.9,-19.4,26,183,0.00,1.95,0.00,0.000,6,0.000,0.024,1965,1936,3125,0,0,0,0,0,0,28.83,26.10,28.83
$GC,495,-0.47,-175.2,100.2,-20.4,51,501,0.12,2.03,0.00,0.000,4,0.164,0.031,2003,531,3125,0,0,0,0,0,0,26.05,26.23,28.83
$GC,708,-0.45,-175.2,131.0,-13.1,61,715,0.00,2.00,0.00,0.000,6,0.000,0.023,1992,1917,3127,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1023,-0.44,-175.2,171.6,-12.6,77,1028,0.00,2.05,0.00,0.000,4,0.000,0.035,1984,3317,3126,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1039,-0.43,-175.2,171.6,-12.6,77,1047,0.12,1.98,0.00,0.000,6,0.138,0.022,2020,1905,3126,0,0,0,0,0,0,26.17,26.43,28.83
$GC,1346,-0.43,-175.2,203.3,-9.7,93,1352,0.00,1.92,0.00,0.000,4,0.000,0.031,2020,550,3126,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1393,-0.44,-175.2,207.7,-9.7,95,1398,0.00,1.95,0.00,0.000,6,0.000,0.022,2012,1937,3126,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1711,-0.44,-175.2,236.3,-8.9,111,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,1938,3125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2012,-0.45,-175.2,261.2,-8.7,126,2017,0.00,1.98,0.00,0.000,4,0.000,0.035,2002,3300,3124,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2035,-0.46,-175.2,263.2,-8.7,127,2040,0.00,1.92,0.00,0.000,6,0.000,0.022,2002,1937,3124,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2358,-0.46,-175.2,291.0,-8.9,143,2363,0.00,2.03,0.00,0.000,4,0.000,0.032,2002,533,3124,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2491,-0.47,-175.2,302.8,-9.4,149,2496,0.00,1.98,0.00,0.000,6,0.000,0.022,1994,1931,3124,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2803,-0.47,-175.2,331.8,-9.2,165,2809,0.00,2.00,0.00,0.000,4,0.000,0.036,1984,3310,3122,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2841,-0.48,-175.2,333.9,-9.2,166,2848,0.00,1.98,0.00,0.000,6,0.000,0.023,1984,1908,3123,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3146,-0.48,-175.2,364.3,-9.0,182,3152,0.00,2.00,0.00,0.000,4,0.000,0.032,1984,542,3122,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3173,-0.48,-175.2,366.4,-9.0,183,3179,0.15,1.95,0.00,0.000,6,0.136,0.022,2019,1924,3122,0,0,0,0,0,0,26.21,26.50,28.83
$GC,3492,-0.50,-175.2,386.6,-6.4,199,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,1924,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,-0.53,-175.2,406.1,-6.1,214,3798,0.00,2.03,0.00,0.000,4,0.000,0.036,2010,3303,3120,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3830,-0.55,-175.2,407.5,-6.1,215,3838,0.00,1.92,0.00,0.000,6,0.000,0.023,2010,1920,3119,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4136,-0.58,-175.2,426.3,-5.3,231,4143,0.12,1.98,0.00,0.000,4,0.096,0.031,1948,543,3118,0,0,0,0,0,0,26.52,26.43,28.83
$GC,4201,-0.58,-175.2,432.1,-8.1,234,4208,0.12,1.98,0.00,0.000,6,0.153,0.023,1974,1930,3118,0,0,0,0,0,0,26.20,26.50,28.83
$GC,4525,-0.58,-175.2,457.3,-8.0,250,4527,0.00,0.00,-0.08,0.000,6,0.000,0.000,1973,1930,3140,0,0,0,0,0,0,28.83,28.83,25.48
$GC,4826,-0.58,-175.2,483.0,-8.5,265,4832,0.00,2.03,0.00,0.000,4,0.000,0.033,1973,546,3139,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4873,-0.58,-175.2,487.1,-9.0,267,4878,0.00,2.00,0.00,0.000,6,0.000,0.024,1965,1933,3139,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5191,-0.58,-175.2,517.2,-9.6,283,5196,0.00,2.03,0.00,0.000,4,0.000,0.037,1952,3307,3138,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5207,-0.58,-175.2,517.2,-9.6,283,5215,0.00,1.98,0.00,0.000,6,0.000,0.024,1955,1913,3136,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5514,-0.58,-175.2,549.7,-9.9,299,5519,0.00,1.98,0.00,0.000,4,0.000,0.034,1955,544,3137,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5586,-0.58,-175.2,556.2,-10.1,302,5592,0.00,1.98,0.00,0.000,6,0.000,0.024,1946,1928,3137,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5899,-0.58,-175.2,587.5,-9.5,318,5904,0.00,2.03,0.00,0.000,4,0.000,0.033,1946,537,3135,0,0,0,0,0,0,28.83,26.40,28.83
$GC,5952,-0.57,-175.2,591.8,-9.7,320,5958,0.12,2.00,0.00,0.000,6,0.151,0.024,1972,1933,3134,0,0,0,0,0,0,26.17,26.47,28.83
$GC,6276,-0.58,-175.2,614.5,-6.4,333,6282,0.00,2.05,0.00,0.000,4,0.000,0.037,1962,3317,3131,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6314,-0.59,-175.2,616.5,-6.3,334,6319,0.00,2.00,0.00,0.000,6,0.000,0.025,1963,1899,3132,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6644,-0.60,-175.2,640.6,-7.6,345,6649,0.00,2.00,0.00,0.000,4,0.000,0.034,1963,534,3132,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6701,-0.60,-175.2,643.6,-7.9,346,6709,0.00,2.00,0.00,0.000,6,0.000,0.024,1954,1931,3130,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7007,-0.60,-175.2,672.6,-8.7,357,7012,0.00,2.05,0.00,0.000,4,0.000,0.033,1953,542,3129,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7049,-0.60,-175.2,675.7,-8.8,358,7054,0.00,1.98,0.00,0.000,6,0.000,0.024,1945,1923,3128,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7373,-0.60,-175.2,704.9,-8.5,369,7378,0.00,2.03,0.00,0.000,4,0.000,0.034,1945,540,3126,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7415,-0.60,-175.2,708.1,-8.6,370,7421,0.12,1.98,0.00,0.000,6,0.154,0.024,1971,1928,3125,0,0,0,0,0,0,26.14,26.45,28.83
$GC,7740,-0.61,-175.2,730.3,-6.4,381,7745,0.00,2.05,0.00,0.000,4,0.000,0.038,1962,3313,3125,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7774,-0.62,-175.2,732.7,-6.6,382,7779,0.00,2.00,0.00,0.000,6,0.000,0.026,1962,1930,3125,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8108,-0.63,-175.2,756.3,-7.2,393,8113,0.00,2.08,0.00,0.000,4,0.000,0.036,1962,508,3124,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8166,-0.64,-175.2,759.1,-7.4,394,8173,0.00,2.05,0.00,0.000,6,0.000,0.025,1953,1934,3123,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8471,-0.64,-175.2,784.9,-7.9,405,8476,0.00,2.10,0.00,0.000,4,0.000,0.035,1953,536,3122,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8537,-0.64,-175.2,790.4,-8.2,407,8543,0.00,2.00,0.00,0.000,6,0.000,0.025,1944,1925,3121,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8866,-0.64,-175.2,818.5,-8.4,418,8871,0.00,2.05,0.00,0.000,4,0.000,0.039,1934,3310,3120,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8899,-0.64,-175.2,821.4,-8.5,419,8904,0.00,2.00,0.00,0.000,6,0.000,0.027,1934,1923,3120,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9234,-0.64,-175.2,851.5,-9.0,430,9240,0.00,2.03,0.00,0.000,4,0.000,0.036,1934,535,3121,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9321,-0.64,-175.2,857.7,-9.2,432,9327,0.00,2.00,0.00,0.000,6,0.000,0.026,1925,1923,3118,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9628,-0.63,-175.2,888.0,-9.1,443,9634,0.12,2.05,0.00,0.000,4,0.157,0.037,1956,3309,3117,0,0,0,0,0,0,26.23,26.27,28.83
$GC,9661,-0.63,-175.2,890.7,-8.8,444,9666,0.00,2.03,0.00,0.000,6,0.000,0.026,1956,1917,3117,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9995,-0.64,-175.2,915.0,-7.5,455,10001,0.00,2.03,0.00,0.000,4,0.000,0.036,1956,534,3116,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10128,-0.65,-175.2,925.7,-8.6,459,10134,0.00,2.00,0.00,0.000,6,0.000,0.026,1948,1931,3115,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10454,-0.65,-175.2,952.3,-7.9,470,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,1931,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10752,-0.66,-175.2,975.5,-7.5,480,10757,0.00,2.08,0.00,0.000,4,0.000,0.040,1937,3319,3114,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10769,-0.67,-175.2,975.5,-7.5,480,10776,0.00,2.00,0.00,0.000,6,0.000,0.026,1942,1919,3113,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,10967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10967,begin apogee
$GC,10971,-0.17,0.0,992.2,-7.6,487,11124,0.47,0.00,144.27,1.421,6,0.121,0.000,2097,1914,2408,0,0,0,0,0,0,25.75,28.83,23.39
$STATE,11125,end apogee,CONTROL_FINISHED_OK
$STATE,11125,begin climb
$GC,11127,0.56,175.2,996.7,0.0,492,11293,0.70,2.35,155.35,1.371,4,0.072,0.037,2344,3276,1693,0,0,0,0,0,0,24.52,23.58,22.61
$GC,11430,0.53,175.2,971.3,12.7,502,11435,0.00,2.12,0.00,0.000,6,0.000,0.027,2353,1899,1687,0,0,0,0,0,0,28.83,25.01,28.83
$GC,11754,0.51,175.2,932.9,11.3,513,11760,0.00,2.12,0.00,0.000,4,0.000,0.036,2353,3287,1684,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11850,0.49,175.2,921.5,11.9,516,11857,0.17,2.08,0.00,0.000,6,0.174,0.028,2318,1889,1683,0,0,0,0,0,0,25.56,25.96,28.83
$GC,12180,0.49,178.1,892.0,8.6,527,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1889,1682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12481,0.48,184.3,866.2,8.5,537,12494,0.00,2.12,7.18,1.121,4,0.000,0.037,2318,3286,1657,0,0,0,0,0,0,28.83,26.08,24.91
$GC,12583,0.48,184.3,857.3,9.4,540,12588,0.00,2.05,0.00,0.000,6,0.000,0.028,2326,1898,1655,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12906,0.47,184.3,826.5,9.2,551,12911,0.00,2.10,0.00,0.000,4,0.000,0.037,2326,3294,1654,0,0,0,0,0,0,28.83,26.17,28.83
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$STATE,21794,end climb,SURFACE_DEPTH_REACHED
$STATE,21794,begin surface coast
$FINISH,1.0,1.022601
$STATE,21811,end surface coast,CONTROL_FINISHED_OK
$STATE,21811,begin surface
$SM_CCo,21886,0.00,0.000,0,0,204,540.89
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$IRIDIUM_FIX,1957.29,12355.41,071212,141446
$TT8_MAMPS,0.024717,0.024717
$HUMID,47.24
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3966144
$24V_AH,22.6,27.425
$10V_AH,10.2,20.518
$FG_AHR_24Vo,120.571
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.675,199.525,603.950,0.000,0.000,0.000,0.000,341.075,3.000,0.000,16.109,3312.324,15054.089,772.757,2902.675,350.181,0.000,2517.982,0.000,2430.521,0.000,28.179,0.000
$DEVICE_MAMPS,241.740,45.900,1421.370,0.000,0.000,0.000,0.000,133.110,420.000,0.000,31.460,11.260,2.190,11.260,37.480,44.970,0.000,15.700,0.000,8.240,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21831.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.824,0.000,0.000,0.000
$MEM,329000
$DATA_FILE_SIZE,36641,993
$CAP_FILE_SIZE,254850,0
$CFSIZE,260034560,238002176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,172.0,1
$GPS,081212,023406,2005.106,12357.612,34,1.1,34,-2.5